U.S. patent application number 13/839422 was filed with the patent office on 2014-02-06 for single site robotic device and related systems and methods.
This patent application is currently assigned to BOARD OF REGENTS OF THE UNIVERSITY OF NEBRASKA. The applicant listed for this patent is BOARD OF REGENTS OF THE UNIVERSITY OF NEBRASKA. Invention is credited to Joseph Bartels, Shane Farritor, Thomas Frederick, Eric Markvicka, Jack Mondry.
Application Number | 20140039515 13/839422 |
Document ID | / |
Family ID | 49916634 |
Filed Date | 2014-02-06 |
United States Patent
Application |
20140039515 |
Kind Code |
A1 |
Mondry; Jack ; et
al. |
February 6, 2014 |
Single Site Robotic Device and Related Systems and Methods
Abstract
The embodiments disclosed herein relate to various medical
device components, including components that can be incorporated
into robotic and/or in vivo medical devices. Certain embodiments
include various medical devices for in vivo medical procedures.
Inventors: |
Mondry; Jack; (Stillwater,
MN) ; Farritor; Shane; (Lincoln, NE) ;
Markvicka; Eric; (Ravenna, NE) ; Frederick;
Thomas; (Omaha, NE) ; Bartels; Joseph;
(Lincoln, NE) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
OF NEBRASKA; BOARD OF REGENTS OF THE UNIVERSITY |
|
|
US |
|
|
Assignee: |
BOARD OF REGENTS OF THE UNIVERSITY
OF NEBRASKA
Lincoln
NE
|
Family ID: |
49916634 |
Appl. No.: |
13/839422 |
Filed: |
March 15, 2013 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
61640879 |
May 1, 2012 |
|
|
|
Current U.S.
Class: |
606/130 |
Current CPC
Class: |
A61B 2034/2048 20160201;
A61B 90/361 20160201; B25J 9/0087 20130101; A61B 2034/2051
20160201; A61B 17/00234 20130101; A61B 34/30 20160201; A61B
2034/302 20160201; B25J 9/0084 20130101; A61B 34/20 20160201; A61B
2017/2906 20130101 |
Class at
Publication: |
606/130 |
International
Class: |
A61B 19/00 20060101
A61B019/00 |
Goverment Interests
GOVERNMENT SUPPORT
[0002] These inventions were made with government support under at
least one of the following grants: Grant No. NNX10AJ26G, awarded by
the National Aeronautics and Space Administration; Grant No.
W81XWH-08-2-0043, awarded by Army Medical Research at the U.S.
Department of Defense; Grant No. DGE-1041000, awarded by the
National Science Foundation; and Grant No. 2009-147-SC1, awarded by
the Experimental Program to Stimulate Competitive Research at the
National Aeronautics and Space Administration. Accordingly, the
government has certain rights in the invention.
Claims
1. A surgical robotic system, comprising: a. a port traversing the
body of a patient; b. a robotic device comprising: i. a plurality
of coupleable bodies, further comprising a first shoulder component
and a second shoulder component, the coupleable bodies capable of
traversing the port from the exterior to interior of the patient;
ii. a first movable segmented robotic arm operationally connected
to the first shoulder component; iii. a second movable segmented
robotic arm operationally connected to the second shoulder
component; iv. a first operational component operationally
connected to the first robotic arm; and v. a second operational
component operationally connected to the second robotic arm; and c.
an operations system for control of the robotic device from outside
the patient by way of the port and coupleable bodies, the
operations system in electrical communication with the robotic
device.
2. The surgical robotic system of claim 1, wherein the robotic
device may be assembled within the body cavity of the patient.
3. The surgical robotic system of claim 1, wherein the first
operational component is chosen from a group consisting of a
grasping component, a cauterizing component, a suturing component,
an imaging component, an irrigation component, a suction component,
an operational arm component, a sensor component, and a lighting
component.
4. The surgical robotic system of claim 1, wherein the second
operational component is chosen from a group consisting of a
grasping component, a cauterizing component, a suturing component,
an imaging component, an irrigation component, a suction component,
an operational arm component, a sensor component, and a lighting
component.
5. The surgical robotic system of claim 1, further comprising one
or more motors for operation, rotation or movement of at least one
of the first shoulder, the second shoulder, the first segmented
arm, the second segmented arm, the first operational component, and
the second operational component.
6. The surgical robotic system of claim 1, wherein the port creates
an insufflation seal in the body.
7. The surgical robotic system of claim 1, wherein the robotic
device further comprises at least one absolute position sensor.
8. The surgical robotic system of claim 1, wherein the robotic
device further comprises at least one relative position sensor.
9. The surgical robotic system of claim 1, wherein the robotic
device further comprises a pixel array and an LED array.
10. The surgical robotic system of claim 1, wherein the robotic
device further comprises a linear encoder.
11. The surgical robotic system of claim 1, wherein the robotic
device further comprises a slip ring assembly.
12. A surgical robotic system, comprising: a. a robotic device
comprising: i. a port; ii. a first shoulder component; iii. a
second shoulder component; iv. a first movable segmented robotic
arm operationally connected to the body component by way of the
first shoulder component; v. a second movable segmented robotic arm
operationally connected to the body component by way of the second
shoulder component; vi. a first operational component operationally
connected to the first robotic arm; and vii. a second operational
component operationally connected to the second robotic arm; b. an
operations system for control of the robotic device from outside
the patient by way of the port and coupleable bodies, the
operations system in electrical communication with the robotic
device.
13. The surgical robotic system of claim 12, wherein the robotic
device may be assembled within the body cavity of the patient.
14. The surgical robotic system of claim 12, wherein the first
operational component is chosen from a group consisting of a
grasping component, a cauterizing component, a suturing component,
an imaging component, an irrigation component, a suction component,
an operational arm component, a sensor component, and a lighting
component.
15. The surgical robotic system of claim 12, wherein the second
operational component is chosen from a group consisting of a
grasping component, a cauterizing component, a suturing component,
an imaging component, an irrigation component, a suction component,
an operational arm component, a sensor component, and a lighting
component.
16. The surgical robotic system of claim 12, further comprising one
or more motors for operation, rotation or movement of at least one
of the first shoulder, the second shoulder, the first segmented
arm, the second segmented arm, the first operational component, and
the second operational component.
17. A method of performing minimally invasive surgery, comprising:
a. providing a robotic device comprising: i. a plurality of
coupleable bodies, further comprising a first shoulder component
and a second shoulder component, the coupleable bodies capable of
traversing the port from the exterior to interior of the patient;
ii. a first movable segmented robotic arm operationally connected
to the first shoulder component; iii. a second movable segmented
robotic arm operationally connected to the second shoulder
component; iv. a first operational component operationally
connected to the first robotic arm; and v. a second operational
component operationally connected to the second robotic arm; and b.
providing an operations system for control of the robotic device
from outside the patient by way of the port and coupleable bodies,
the operations system in electrical communication with the robotic
device.
18. The method of performing minimally invasive surgery of claim
17, further comprising providing a fluidly sealed port disposed
across the body cavity wall of a patient and transversed by the
coupleable bodies.
19. The method of performing minimally invasive surgery of claim
17, further comprising inserting the surgical robotic system
components into the body of the patient by way of the port using
the support rod; and
20. The method of performing minimally invasive surgery of claim
17, further comprising assembling the surgical robotic system
inside the body of the patient for use.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] This application claims priority from U.S. Provisional
Application 61/640,879, filed May 1, 2012, and entitled "Single
Site Robotic Device and Related Systems and Methods," which is
hereby incorporated herein by reference in its entirety.
TECHNICAL FIELD
[0003] The embodiments disclosed herein relate to various medical
devices and related components, including robotic and/or in vivo
medical devices and related components. Certain embodiments include
various robotic medical devices, including robotic devices that are
disposed within a body cavity and positioned using a support
component disposed through an orifice or opening in the body
cavity. Further embodiment relate to methods of operating the above
devices.
BACKGROUND
[0004] Invasive surgical procedures are essential for addressing
various medical conditions. When possible, minimally invasive
procedures such as laparoscopy are preferred.
[0005] However, known minimally invasive technologies such as
laparoscopy are limited in scope and complexity due in part to 1)
mobility restrictions resulting from using rigid tools inserted
through access ports, and 2) limited visual feedback. Known robotic
systems such as the da Vinci.RTM. Surgical System (available from
Intuitive Surgical, Inc., located in Sunnyvale, Calif.) are also
restricted by the access ports, as well as having the additional
disadvantages of being very large, very expensive, unavailable in
most hospitals, and having limited sensory and mobility
capabilities.
[0006] There is a need in the art for improved surgical methods,
systems, and devices.
BRIEF DESCRIPTION OF THE DRAWINGS
[0007] FIG. 1 is a top perspective view of a robotic surgical
system according to one embodiment.
[0008] FIG. 2 is the same perspective view of the device of FIG.
1.
[0009] FIG. 3 is the same perspective view of the device of FIG.
1.
[0010] FIG. 4A is a schematic view of the robotic medical device
body from the top, according to one embodiment.
[0011] FIG. 4B is a schematic view of the robotic medical device
body from the side, according to the embodiment of FIG. 4A.
[0012] FIG. 4C is a cutaway perspective schematic view of a robotic
medical device body, according to the embodiment of FIG. 4A.
[0013] FIG. 4D is a perspective exploded schematic view of a
robotic medical device body, according to the embodiment of FIG.
4A.
[0014] FIG. 4E is another exploded schematic view of a robotic
medical device body, according to the embodiment of FIG. 4A.
[0015] FIG. 4E is an end-long see-through schematic view of a
robotic medical device body, according to the embodiment of FIG.
4A.
[0016] FIG. 4G is a top-down see-through schematic view of a
robotic medical device body, according to the embodiment of FIG.
4A.
[0017] FIG. 4H is a see-through schematic side view of a robotic
medical device body, according to the embodiment of FIG. 4A.
[0018] FIG. 5A is a top perspective exploded schematic of the body
of a robotic device, according to one embodiment.
[0019] FIG. 5B is a bottom perspective exploded schematic of the
body of a robotic device, according to the embodiment of FIG.
5A.
[0020] FIG. 6A is a top perspective exploded schematic of the
internal components of body of a robotic device, according to one
embodiment.
[0021] FIG. 6B is a top perspective separated schematic of the
internal components of a robotic device, according to the
embodiment of FIG. 6A.
[0022] FIG. 6C is an endlong schematic of the internal components
of a robotic device, along the section line of FIG. 6B according to
the embodiment of FIG. 6B.
[0023] FIG. 7A is a top perspective separated schematic of the
internal components and body of a robotic device, according to one
embodiment.
[0024] FIG. 7B is an exploded top perspective view of the body of a
robotic device, according to the embodiment of FIG. 7A.
[0025] FIG. 8A is a bottom perspective view of the internal
components and body of a robotic device, according to one
embodiment.
[0026] FIG. 8B is a sectional view of the body of a robotic device
showing internal wiring, according to the embodiment of FIG.
8A.
[0027] FIG. 9A is another exploded perspective view of internal
components of a robotic device, according to one embodiment.
[0028] FIG. 9B is a sectional view of the body of a robotic device,
according to the embodiment of FIG. 9A.
[0029] FIG. 9C is a close exploded view of bevel gear and spur
shaft of a robotic device, according to the embodiment of FIG.
9A.
[0030] FIG. 10A is an perspective exploded view of the body
segments of a robotic device, according to another embodiment.
[0031] FIG. 10B is an perspective exploded view of the body
segments of a robotic device, according to the embodiment of FIG.
10A.
[0032] FIG. 11A is an perspective exploded view of a body segment
of a robotic device, according to another embodiment.
[0033] FIG. 11B is an endlong sectional view of a body segment of a
robotic device, according to the embodiment of FIG. 11A.
[0034] FIG. 12A is an perspective exploded view of the body
segments of a robotic device, according to another embodiment.
[0035] FIG. 12B is an opposite perspective exploded view of the
body segments of a robotic device, according to the embodiment of
FIG. 12A.
[0036] FIG. 13A is an perspective exploded view of the shoulder
joint of a robotic device, according to another embodiment.
[0037] FIG. 13B is a side view of the shoulder joint of a robotic
device, according to the embodiment of FIG. 13A.
[0038] FIG. 13C is a cross sectional view of a shoulder joint of a
robotic device, according to the embodiment of FIG. 13A.
[0039] FIG. 13D is an exploded perspective view of a shoulder joint
of a robotic device, according to the embodiment of FIG. 13A.
[0040] FIG. 14A is a bottom perspective view of the shoulder joint
of a robotic device, according to another embodiment.
[0041] FIG. 14B is a side perspective view of the shoulder joint of
a robotic device, according to the embodiment of FIG. 14A.
[0042] FIG. 14C is a bottom view of the shoulder joints of a
robotic device, according to the embodiment of FIG. 14A.
[0043] FIG. 15A is a perspective view of the upper arm of a robotic
device, according to another embodiment.
[0044] FIG. 15B is a side view of the upper arm of a robotic
device, according to the embodiment of FIG. 15A.
[0045] FIG. 16A is an exploded perspective view of the motor and
drive train of a robotic device, according to another
embodiment.
[0046] FIG. 16B is a side view of the motor and drive train of a
robotic device, according to the embodiment of FIG. 16A.
[0047] FIG. 17A is an exploded side view of the housing segments of
a robotic device, according to another embodiment.
[0048] FIG. 17B is an exploded perspective view of the housing
segments of a robotic device, according to the embodiment of FIG.
17A.
[0049] FIG. 18A is an exploded side view of the housing and spur
shaft of a robotic device, according to another embodiment.
[0050] FIG. 18B is an assembled side cross-sectional view of the
housing and spur shaft of a robotic device, according to the
embodiment of FIG. 18A.
[0051] FIG. 19A is an exploded side perspective view of the shaft
housing and housing of a robotic device, according to another
embodiment.
[0052] FIG. 19B is an opposite exploded side perspective view of
the shaft housing and housing a robotic device, according to the
embodiment of FIG. 19A.
[0053] FIG. 19C is a cross-sectional view of the shaft housing and
housing a robotic device, according to the embodiment of FIG.
19A.
[0054] FIG. 20A is a side view of the shaft of a robotic device,
according to another embodiment.
[0055] FIG. 20B is a perspective view of the shaft of a robotic
device, according to the embodiment of FIG. 20A.
[0056] FIG. 20C is another perspective view of the shaft of a
robotic device, according to the embodiment of FIG. 20A.
[0057] FIG. 21A is a perspective view of the forearm of a robotic
device, according to another embodiment.
[0058] FIG. 21B is a side view of the forearm of a robotic device,
according to the embodiment of FIG. 21A.
[0059] FIG. 21C is another side view of the forearm of a robotic
device, according to the embodiment of FIG. 21A.
[0060] FIG. 21D is an end view of the forearm of a robotic device,
according to the embodiment of FIG. 21A.
[0061] FIG. 21E is a cross sectional side view of the forearm of a
robotic device, according to the embodiment of FIG. 21A.
[0062] FIG. 21F is a side view of the forearm of a robotic device,
according to the embodiment of FIG. 21A.
[0063] FIG. 21G is an exploded perspective view of the forearm and
internal components of a robotic device, according to the
embodiment of FIG. 21A.
[0064] FIG. 21H is a side view of the forearm and internal
components of a robotic device, according to the embodiment of FIG.
21A.
[0065] FIG. 22A is an exploded close-up view of the proximal end of
the forearm and internal components of a robotic device, according
to another embodiment.
[0066] FIG. 22B is a cutaway close-up view of the proximal end of
the forearm and internal components of a robotic device, according
to the embodiment of FIG. 22A.
[0067] FIG. 23A is a cutaway close-up view of the grasper end of
the forearm and internal components of a robotic device, according
to another embodiment.
[0068] FIG. 23B is an exploded close-up view of the grasper end of
the forearm and internal components of a robotic device, according
to the embodiment of FIG. 23A.
[0069] FIG. 24 is a perspective close-up view of the grasper of a
robotic device, according to another yet implementation.
[0070] FIG. 25A is a see-through side view of the forearm having a
camera and internal components of a robotic device, according to
another embodiment of the system.
[0071] FIG. 25B is an exploded and see-through view of the forearm
having a camera of a robotic device, according to the embodiment of
FIG. 25A.
[0072] FIG. 25C is a close up perspective view of the forearm
having a camera of a robotic device, according to the embodiment of
FIG. 25A.
[0073] FIG. 25D is another close up perspective view of the forearm
having a camera of a robotic device, according to the embodiment of
FIG. 25A.
[0074] FIG. 25E is a perspective view of the forearm having a
camera detailing the camera's field of vision for a robotic device,
according to the embodiment of FIG. 25A.
[0075] FIG. 26A is a side view of the forearm and body of a robotic
device in one position, according to another embodiment.
[0076] FIG. 26B is a side view of the forearm and body of a robotic
device in one position, according to the embodiment of FIG.
26A.
[0077] FIG. 26C is a side view of the forearm and body of a robotic
device in one position, according to the embodiment of FIG.
26A.
[0078] FIG. 26D is a side view of the forearm and body of a robotic
device in one position, according to the embodiment of FIG.
26A.
[0079] FIG. 26E is a side view of the forearm and body of a robotic
device in one position, according to the embodiment of FIG.
26A.
[0080] FIG. 26F is a side view of the forearm and body of a robotic
device in one position, according to the embodiment of FIG.
26A.
[0081] FIG. 27A is a side view of the forearm and body of a robotic
device in one position inside the body, according to another
embodiment.
[0082] FIG. 27B is a side view of the forearm and body of a robotic
device in one position inside the body according to the embodiment
of FIG. 27A.
[0083] FIG. 27C is a side view of the forearm and body of a robotic
device in one position inside the body, according to the embodiment
of FIG. 27A.
[0084] FIG. 28 is front view of a robotic device, according to one
embodiment.
[0085] FIG. 29 is a perspective view of an accelerometer according
to one embodiment, showing the axis of detection.
DETAILED DESCRIPTION
[0086] The various embodiments disclosed or contemplated herein
relate to surgical robotic devices, systems, and methods. More
specifically, various embodiments relate to various medical
devices, including robotic devices and related methods and systems.
Certain implementations relate to such devices for use in
laparo-endoscopic single-site (LESS) surgical procedures.
[0087] It is understood that the various embodiments of robotic
devices and related methods and systems disclosed herein can be
incorporated into or used with any other known medical devices,
systems, and methods. For example, the various embodiments
disclosed herein may be incorporated into or used with any of the
medical devices and systems disclosed in copending U.S. application
Ser. Nos. 11/766,683 (filed on Jun. 21, 2007 and entitled
"Magnetically Coupleable Robotic Devices and Related Methods"),
11/766,720 (filed on Jun. 21, 2007 and entitled "Magnetically
Coupleable Surgical Robotic Devices and Related Methods"),
11/966,741 (filed on Dec. 28, 2007 and entitled "Methods, Systems,
and Devices for Surgical Visualization and Device Manipulation"),
61/030,588 (filed on Feb. 22, 2008), 12/171,413 (filed on Jul. 11,
2008 and entitled "Methods and Systems of Actuation in Robotic
Devices"), 12/192,663 (filed Aug. 15, 2008 and entitled Medical
Inflation, Attachment, and Delivery Devices and Related Methods"),
12/192,779 (filed on Aug. 15, 2008 and entitled "Modular and
Cooperative Medical Devices and Related Systems and Methods"),
12/324,364 (filed Nov. 26, 2008 and entitled "Multifunctional
Operational Component for Robotic Devices"), 61/640,879 (filed on
May 1, 2012), 13/493,725 (filed Jun. 11, 2012 and entitled
"Methods, Systems, and Devices Relating to Surgical End
Effectors"), 13/546,831 (filed Jul. 11, 2012 and entitled "Robotic
Surgical Devices, Systems, and Related Methods"), 61/680,809 (filed
Aug. 8, 2012), 13/573,849 (filed Oct. 9, 2012 and entitled "Robotic
Surgical Devices, Systems, and Related Methods"), and 13/738,706
(filed Jan. 10, 2013 and entitled "Methods, Systems, and Devices
for Surgical Access and Insertion"), and U.S. Pat. Nos. 7,492,116
(filed on Oct. 31, 2007 and entitled "Robot for Surgical
Applications"), 7,772,796 (filed on Apr. 3, 2007 and entitled
"Robot for Surgical Applications"), and 8,179,073 (issued May 15,
2011, and entitled "Robotic Devices with Agent Delivery Components
and Related Methods"), all of which are hereby incorporated herein
by reference in their entireties.
[0088] Certain device and system implementations disclosed in the
applications listed above can be positioned within a body cavity of
a patient in combination with a support component similar to those
disclosed herein. An "in vivo device" as used herein means any
device that can be positioned, operated, or controlled at least in
part by a user while being positioned within a body cavity of a
patient, including any device that is coupled to a support
component such as a rod or other such component that is disposed
through an opening or orifice of the body cavity, also including
any device positioned substantially against or adjacent to a wall
of a body cavity of a patient, further including any such device
that is internally actuated (having no external source of motive
force), and additionally including any device that may be used
laparoscopically or endoscopically during a surgical procedure. As
used herein, the terms "robot," and "robotic device" shall refer to
any device that can perform a task either automatically or in
response to a command.
[0089] Certain embodiments provide for insertion of the present
invention into the cavity while maintaining sufficient insufflation
of the cavity. Further embodiments minimize the physical contact of
the surgeon or surgical users with the present invention during the
insertion process. Other implementations enhance the safety of the
insertion process for the patient and the present invention. For
example, some embodiments provide visualization of the present
invention as it is being inserted into the patient's cavity to
ensure that no damaging contact occurs between the system/device
and the patient. In addition, certain embodiments allow for
minimization of the incision size/length. Further implementations
reduce the complexity of the access/insertion procedure and/or the
steps required for the procedure. Other embodiments relate to
devices that have minimal profiles, minimal size, or are generally
minimal in function and appearance to enhance ease of handling and
use.
[0090] Certain implementations disclosed herein relate to
"combination" or "modular" medical devices that can be assembled in
a variety of configurations. For purposes of this application, both
"combination device" and "modular device" shall mean any medical
device having modular or interchangeable components that can be
arranged in a variety of different configurations. The modular
components and combination devices disclosed herein also include
segmented triangular or quadrangular-shaped combination devices.
These devices, which are made up of modular components (also
referred to herein as "segments") that are connected to create the
triangular or quadrangular configuration, can provide leverage
and/or stability during use while also providing for substantial
payload space within the device that can be used for larger
components or more operational components. As with the various
combination devices disclosed and discussed above, according to one
embodiment these triangular or quadrangular devices can be
positioned inside the body cavity of a patient in the same fashion
as those devices discussed and disclosed above.
[0091] An exemplary embodiment of a robotic device is depicted in
FIGS. 1, 2, and 3. The device has a main body, 100, a right arm A,
and a left arm B. As best shown in FIG. 2, each of the left B and
right A arms is comprised of 2 segments: an upper arm (or first
link) 300A, 300B and a forearm (or second link) 200A, 200B, thereby
resulting in each arm A, B having a shoulder joint (or first joint)
300.1A, 300.1B and an elbow joint (or second joint) 200.1A, 200.1B.
As best shown in FIGS. 2-32, in certain implementations, each of
the left arm B and right arm A is capable of four degrees of
freedom. The left shoulder joint 300.1B and right shoulder joint
300.1A have intersecting axes of rotation: shoulder yaw (.theta.1)
and shoulder pitch (.theta.2). The elbow joints 200.1A, 200.1B
contribute a degree of freedom--elbow yaw (.theta.3)--and the end
effectors do as well: end effector roll (.theta.4).
[0092] FIGS. 4A, 4B, 4C, 4D, 4E, 4F, 4G, and 4H depict the device
body 100 according to an exemplary embodiment. More specifically,
FIG. 4A depicts a front view of the body 100, while FIG. 4B depicts
a side view. In addition, FIGS. 4C, 4D, 4E, 4F, 4G, and 4H depict
various perspectives of the device body 100 in which various
internal components of the body 100 are visible.
[0093] The body 100 contains four motors which control shoulder yaw
(.theta.1) and shoulder pitch (.theta.2) for the right and left
arms A, B. More specifically, as best shown in FIGS. 4C, 4G, and
13D, the proximal right motor 109A and distal right motor 122A
control shoulder yaw (.theta.1) and shoulder pitch (.theta.2) for
the right shoulder 300.1A, while the proximal left motor 109B and
distal left motor 122B control shoulder yaw (.theta.1) and shoulder
pitch (.theta.2) for the left shoulder 300.1B. This discussion will
focus on the right shoulder 300.1A and arm A, but it is understood
that a similar set of components are coupled in a similar fashion
to control the yaw and pitch of the left shoulder 300.1B and left
arm B.
[0094] As best shown in FIG. 4G (and as will be explained in
further detail elsewhere herein), the proximal right motor 109A is
operably coupled to the right shoulder subassembly 127A of the
right shoulder 300.1A via gear 108A, which is operably coupled to
gear 115.1A on the end of the right spur shaft 115A, and the right
bevel gear first right bevel gear at the opposite end of the right
spur shaft 115A is operably coupled to the bevel gear 130A of the
right shoulder subassembly 127A. In addition, the distal right
motor 122A is operably coupled to the right shoulder subassembly
127A via a right distal spur gear 121A, which is operably coupled
to a gear 119A, which is operably coupled to bevel gear second
right bevel gear 117A, which is operably coupled to the bevel gear
130A of the right shoulder subassembly 127A. The proximal right
motor 109A and distal right motor 122A operate together to control
both the shoulder yaw (.theta.1) and shoulder pitch (.theta.2) for
the right shoulder 300.1A by rotating the first right bevel gear
and second right bevel gear at predetermined directions and speeds
as will be described in further detail below.
[0095] In one embodiment, the four motors 109A, 109B, 122A, 122B,
along with the motors in the arms as described elsewhere herein,
are brushed direct current (DC) motors with integrated magnetic
encoders and planetary gearheads. According to various embodiments,
the motors used in the device can vary in size depending on the
particular device embodiment and the location and/or use of the
motor, with the size ranging in diameter from about 6 mm to about
10 mm Alternatively, any known motors or other devices for
converting electrical energy into rotational motion can be
used.
[0096] As best shown in FIGS. 4A and 4B, according to one
implementation, the body 100 has a plurality of segments that
result in separate housings or subassemblies that are coupled
together. In the implementation depicted in FIGS. 4A and 4B, there
are six segments, but other numbers are possible. These segments
101, 102, 103, 104, 105, and 106 create housings that provide
protection for internal electronics and support for internal
components, including motors and drivetrain components. In the
implementation shown in FIGS. 4A and 4B, first segment 101 is
configured to be coupled with second segment 102 such that second
segment 102 is positioned at least partially within segment first
101, thereby creating first housing 100.1 as shown in FIGS. 4A, 4B,
and 5A. Third segment 103, fourth segment 104, and fifth segment
105 are also coupled together to create second housing 100.2 as
shown in FIGS. 4A, 4B, and 5A. Finally, first housing 100.1 and
second housing 100.2 are coupled together as best shown in FIG. 5A.
The segments, housings, and their assembly into the body 100 are
discussed in further detail below.
[0097] As best shown in FIG. 4A, in certain embodiments, the distal
end (or bottom) of the body 100 can also have a camera 99. In the
implementation shown in FIG. 4A, the camera 99 is a single fixed
camera 99 positioned in direct line of sight of the surgical
workspace. Alternatively, the body 100 could have multiple cameras
operating together to provide stereoscopic (3D) vision. In a
further alternative, any known camera or set of cameras for use in
medical devices could be used. In further embodiments, the body 100
can also have a lighting system such as LEDs and/or fiber optic
lights to illuminate the body cavity and/or the surgical
workspace.
[0098] In one implementation, the plurality of segments 101, 102,
103, 104, 105, 106 are made of a combination of machined aluminum
and rapid prototyped plastic. One example of a process using such
materials is described in "Rapid Prototyping Primer" by William
Palm, May 1998 (revised Jul. 30, 2002)
(http://www.me.psu.edu/lamancusa/rapidpro/primer/chapter2.htm),
which is hereby incorporated herein by reference in its entirety.
Alternatively, it is understood by those skilled in the art that
many other known materials for medical devices can be used,
including, but not limited to, stainless steel and/or injection
molded plastics.
[0099] FIGS. 5A and 5B depict the first and second housings 100.1,
100.2. FIG. 5A depicts the front of the first and second housings
100.1, 100.2, while FIG. 5B depicts the back. As best shown in
FIGS. 4C-4H in combination with FIGS. 5A and 5B, the proximal right
motor 109A and proximal left motor 109B are positioned in the first
housing 100.1, while the distal right motor 122A and distal left
motor 122B are positioned in the second housing 100.2. the first
and second housings 100.1, 100.2 are coupled together using a
plurality of threaded members 107A, 107B, 107C as shown.
Alternatively, any coupling mechanism can be used to retain the
first 100.1 and second housings 100.2 together.
[0100] FIGS. 6A, 6B, and 6C depict the second segment 102 and the
positioning of the right 109A and left proximal motors 109B within.
In this specific embodiment, each of the proximal motors 109A, 109B
has a diameter of 10 mm and is made up of three components: the
right planetary gearhead 109A.1 and left planetary gearhead 109B.1,
the proximal right motor drive component 109A.2, proximal left
motor drive component 109B.2, and the right 109A.3 and left
encoders 109B.3. It is understood that the right 109A.1 and left
109B.1 planetary gearheads reduce the speed of the proximal motor
drive components, 109A.2, 109B.2 and thus increases the output
torque. It is further understood that the right 109A.3 and left
109B.3 encoders control the position of the right proximal motor
output shaft 108.1A and left proximal motor output shaft 108.1B
using electric pulses which can be generated by magnetic, optic, or
resistance means. Thus, the right and left encoders 109A.3, 109B.3
provide accurate positioning of the right proximal motor output
shaft 108.1A and left proximal motor output shaft 108.1B.
[0101] Thus, in certain implementations, each of the proximal right
108A, and proximal left spur gears 108B is used to transmit the
rotational motion from the corresponding proximal motor 109A, 109B
which further comprises a proximal motor drive component 109A.2,
109B.2 which acts through a planetary gearhead 109A.1, 109B.1).
Each proximal spur gear 108A, 108B is rotationally constrained with
a "D" shaped geometric feature 108.1A, 108.1B and, in some
embodiments, a bonding material such as TB-Weld.
[0102] As shown in FIGS. 6A, 6B, and 6C, the second segment 102 has
a plurality of partial lumens, in this implementation a right
partial lumen 102A and left partial lumen 102B defined within the
second segment 102 that have inner walls that do not extend a full
360 degrees. The right and left partial lumens 102A, 102B are
configured to receive the right and left proximal motors 109A,
109B. The right and left proximal motors 109A, 109B can be
positioned in the right and left partial lumens 102A, 102B as shown
in FIGS. 6B, and 6C. In one embodiment, the second segment 102 is
configured to allow for the diameter of the walls of the right and
left partial lumens 102A, 102B to be reduced after the right and
left proximal motors 109A, 109B have been positioned therein,
thereby providing frictional resistance to rotationally and
translationally secure the right and left proximal motors 109A,
109B within the right and left partial lumens 102A, 102B, thereby
creating first subassembly 100.1A. More specifically, the second
segment 102 allows for a clamping force to be applied to the right
and left proximal motors 109A, 109B by the tightening of the thread
members 110. It is understood that the right and left proximal
motors 109A, 109B can also be constrained or secured by any other
known method or mechanism.
[0103] FIGS. 7A and 7B show the attachment or coupling of the first
subassembly 100.1A with the first segment 101, thereby resulting in
the first housing 100.1. First segment 101 has a first segment
mating feature 101A defined within the first segment 101 that is
configured to receive the first subassembly 100.1A. More
specifically, in the embodiment depicted in FIG. 7A, the first
segment mating feature 101A is an opening defined in the first
segment 101 that mates with the first subassembly 100.1A such that
the first subassembly 100.1A fits within the opening and couples
with the first segment 101. In one embodiment, the first
subassembly 100.1A fits within the first segment mating feature
101A such that the first subassembly 100.1A and the first segment
101 are rotationally constrained with respect to each other.
Further, a first threaded member 107D is used to translationally
constrain the components.
[0104] In accordance with one implementation, the first segment top
portion 101.1 of the first segment 101 is configured or shaped to
receive an external clamp (such as, for example, a commercially
available external clamp available from Automated Medical Products
Corp. (http://www.ironintern.com/). The clamp can be attached to
the first segment top portion 101.1 to easily and securely attach
the clamp to the body 100.
[0105] As shown in FIGS. 8A and 8B, the first housing 100.1 can
have additional features, according to one embodiment. More
specifically, the first segment 101 can have a notch or opening
101.2 defined at a bottom back portion of the first segment 101
that provides an exit site for cabling/wiring 101.4 coupled to at
least one of the right and left proximal motors 109A, 109B disposed
within the first housing 100.1. According to one embodiment, the
opening 101.2 can provide strain relief for the cabling/wiring
101.4 to maintain the integrity of the electrical/electronic
connections. That is, the opening 101.2 can provide a clamping
feature that clamps or otherwise secures all of the cabling/wiring
101.4 that extend through the opening, such that any external
forces applied to the cabling/wiring 101.4 do not extend past the
opening 101.2, thereby preventing undesirable forces or strain on
the connections of any of those cables/wires 101.4 to any internal
components inside the first housing 100.1. The clamping feature
results from the coupling of first 100.1 and second housings 100.2
as best shown in FIG. 5B. The urging of all the cabling/wiring
101.4 into the opening 101.2 for purposes of allowing for coupling
of the housings 100.1 and 100.2 results in a "clamping" of the
cabling/wiring 101.4 resulting from the frictional restriction of
the cabling/wiring 101.4 in the opening 101.2. In some alternative
embodiments, the opening 101.2 can also be filled prior to use with
silicon or some other means of sealing against liquid contaminants,
body fluids, etc., which can also provide additional strain relief
similar to the clamping feature described above. In addition, the
first housing 100.1 can also have a cavity 101.3 defined within the
first housing 100.1 that allows sufficient clearance for the
cabling/wiring 101.4 to extend from at least one of the right and
left proximal motors 109A, 109B and exit through opening 101.2.
[0106] FIGS. 9A, 9B, and 9C depict the fourth segment 104, which is
a component of the second housing 100.2 discussed above and
depicted in FIGS. 5A and 5B. The fourth segment 104 has right
115.1A, and left fourth segment lumens 115.1B defined in the fourth
segment 104 that are configured to receive the right proximal spur
shaft 115A and left proximal spur shaft 115B, both of which are
part of the drive trains that operably couple the right and left
proximal motors 109A, 109B to the right and left shoulder
subassemblies 127A, 127B that constitute the right 300.1A and left
300.1B shoulders of the device. The fourth segment 104 also has
right and left holes 122.1A, 122.1B defined in the fourth segment
104. These holes 122.1A, 122.1B are discussed in further detail in
relation to FIGS. 11A and 11B below. While the drive train that
includes the right proximal spur shaft 115A will be discussed in
detail in this paragraph, it is understood that the drive train
that includes the left proximal spur shaft 115B has the same
components that are coupled and function in the same manner. As
discussed above with respect to FIGS. 4C and 4G, the right proximal
spur shaft 115A is configured to be disposed through the right
lumen 115.1A of the fourth segment 104. It has a first right driven
gear 115.2A at one end and is coupled to a first right bevel gear
112A at the other. In addition, as best shown in FIGS. 9A and 9B, a
first right ball bearing 111A is positioned within an opening or
recess in the first right bevel gear 112A and is contacted only on
its outer race by the inner wall of the opening in the first right
bevel gear 112A. In the finished assembly, this contact will
provide appropriate preload to this bearing. It is understood by
those of ordinary skill in the art that "bearing preload" is a term
and concept that is well known in the art as a mechanism or method
by which to improve manufacturing tolerances from the ball bearing
by applying a constant axial stress.
[0107] Further, a second right ball bearing 113.1A is positioned on
or around the hub of the first right bevel gear 112A so that its
inner race is the only contact with the hub of the first right
bevel gear 112A. A third ball bearing 113.2A is positioned on or
around the right proximal spur shaft 115A in a similar manner and
further is positioned in a right bore hole 113.3A in the right
lumen 115.1A, as best shown in FIG. 9B. According to one
embodiment, first right bevel gear 112A is coupled to the spur
shaft 115A via a threaded coupling (not shown). That is, the first
right bevel gear 112A has a bevel gear lumen 112.1A as best shown
in FIG. 9C that contains internal threads (not shown) while the
spur shaft 115A has external threads (not shown) defined on an
outer surface at the end of the shaft 115A that comes into contact
with first right bevel gear 112A. In one implementation, a thread
locker is used to permanently affix the first right bevel gear 112A
to the right proximal spur shaft 115A. According to one particular
exemplary embodiment, the thread locker can be Loctite, which is
commercially available from Henkel Corp. in Dusseldorf, Germany. As
such, the second and third ball bearings 113.1A, 113.2A contact the
inner walls of the lumen 115.1A on their outer races and contact
the outer surfaces of the first right bevel gear 112A and the right
proximal spur shaft 115A with their inner races. Further, in one
embodiment, the act of coupling the internal threads in the bevel
gear lumen 112.1A with the external threads on the outer surface of
the spur shaft 115A preloads the second and third ball bearings
113.1A, 113.2A.
[0108] FIGS. 10A and 10B depict the fifth 105 and sixth 106
segments, both of which are also components of the second housing
100.2 discussed above and depicted in FIGS. 5A and 5B. It should be
noted that FIGS. 10A and 10B depict the back side of these
segments, while the other figures discussed herein relating to the
other segments generally depict the front side. In one
implementation, the sixth segment 106 is an end cap segment that
couples to the fifth segment 105. The fifth segment, 105, like the
fourth 104, has right and left lumens 119.1A, 119.1B defined in the
fifth segment 105 that are configured to receive the right 119.3A
and left distal spur shafts 119.3B, both of which are part of the
drive trains that operably couple the right 122A and left 122B
distal motors to the right 127A and left 127B shoulder
subassemblies that constitute the right 300.1A and left 300.1B
shoulders of the device. In addition, the segment 105 also has
right and left fifth segment lumens 122.4A, 122.4B configured to
receive the right 122A and left 122B distal motors as best shown in
FIGS. 12A and 12B and discussed below.
[0109] While the drive train that includes the first left distal
spur shaft 119.3B will be discussed in detail in this paragraph, it
is understood that the drive train that includes the first right
distal spur shaft 119.3A has the same components that are coupled
and function in the same manner The first left distal spur shaft
119.3B is configured to be disposed through the left fifth segment
lumen 119.1B. It has a left distal driven gear 119.2B at one end
and is coupled to a left distal bevel gear 117B at the other. In
addition, a fourth ball bearing 116B is positioned within an
opening or recess in the left distal bevel gear 117B and is
contacted only on its outer race by the inner wall of the opening
in the left distal bevel gear 117B. Further, the fifth ball bearing
118.1B is positioned over/on the bore of left distal bevel gear
117B and within the left fifth segment lumen 119.1B, while the
fifth ball bearing 118.2B is positioned on/over spur the left
distal gear shaft 119B and within the left fifth segment lumen
119.1B at the opposite end of the fifth segment lumen 119.1B from
fifth ball bearing 118.1B. According to one embodiment, the left
distal bevel gear 117B is coupled to the first left distal spur
shaft 119.3B via a threaded coupling (not shown). That is, the left
distal bevel gear 117B has a left distal bevel gear lumen 117.1B as
best shown in FIG. 10B that contains internal threads (not shown)
while the first left distal spur shaft 119.3B has external threads
(not shown) defined on an outer surface at the end of the first
left distal spur shaft 119.3B that comes into contact with left
distal bevel gear 117B. In one implementation, a thread locker is
used to permanently affix the left distal bevel gear 117B to the
first left distal spur shaft 119.3B. According to one particular
exemplary embodiment, the thread locker can be Loctite, as
described above. In one embodiment, the act of coupling the
internal threads in the left distal bevel gear lumen 117.1B with
the external threads on the outer surface of the first left distal
spur shaft 119.3B preloads the fifth and sixth ball bearings
118.1B, 118.2B.
[0110] FIGS. 11A and 11B depict the fourth segment 104 and, more
specifically, the positioning of the right distal motor 122A and
left distal motor 122B in the fourth segment holes 122.1A, 122.1B.
The right distal motor 122A and left distal motor 122B, according
to one embodiment, are 10 mm motors that are similar or identical
to the right and left proximal motors 109A, 109B discussed above.
Alternatively, any known motors can be used. Each of the right
distal motor 122A and left distal motor 122B have a second right
distal spur gear 121A and second left distal spur gear 121B,
respectively. In one embodiment, each second distal spur gear 121A,
121B is coupled to the distal motor 122A, 122B with "D" geometry as
described above and, in some embodiments, adhesive such as TB-Weld.
As shown in FIGS. 11A, the right distal motor 122A and left distal
motor 122B are positioned in the right and left fourth segment
holes 122.1A, 122.1B. In one implementation, the right distal motor
122A and left distal motor 122B are positioned correctly when the
right and left distal motor ends 122.2A, 122.2B contact or are
substantially adjacent to the right and left distal stop tabs
122.3A, 122.3B. When the right distal motor 122A and left distal
motor 122B are positioned as desired, the threaded members 123 are
inserted in the right and left threaded member holes 123.1A, 123.1B
and tightened, thereby urging the fourth segment crossbar 123.2
downward and thereby constraining the right distal motor 122A and
left distal motor 122B rotationally and translationally within the
fourth segment holes 122.1A, 122.1B.
[0111] FIGS. 12A and 12B depict the fourth, fifth and sixth
segments 104, 105, 106 of the second housing 100.2 and how they are
coupled together to form the second housing 100.2. As will be
explained in detail below, the fourth, fifth and sixth segments
104, 105, 106 couple together into a second housing 100.2 that
forms the right 300.1A and left shoulders 300.1B of the device. The
right distal motor 122A and left distal motor 122B are positioned
through the fifth segment lumens 122.4A, 122.4B such that the
second distal spur gears 121A, 121B that are coupled to the right
distal motor 122A and left distal motor 122B are positioned against
the fifth segment 105 and between the fifth 105 and sixth segments
106. The second distal spur gears 121A, 121B transmit the
rotational motion from the right distal motor 122A and left distal
motor 122B, respectively to the distal spur shafts 119.3A, 119.3B,
which are positioned such that they are coupled to the second
distal spur gears 121A, 121B. As described in detail with respect
to FIGS. 10A and 10B, the first distal spur shafts 119.3A, 119.3B
are coupled to the second right bevel gear, 117B so that the motion
is also transferred through the second right bevel gear, 117B.
[0112] When the fourth, fifth and sixth segments 104, 105, 106 are
coupled together to form the second housing 100.2, in one
embodiment, a fifth segment projection 105A on the back of the
fifth segment 105 is positioned in and mates with a fourth segment
notch 104A in the back of the fourth segment 104, as best shown in
FIG. 12B. Further threaded members are then threaded through holes
in the fourth segment (not shown) and into the projection 105A,
thereby further securing the fourth and fifth segments 104,105.
This mated coupling of the fifth segment projection 105A and fourth
segment notch 104A can, in one implementation, secure the fourth
and fifth segments 104, 105 to each other such that neither
component is rotational in relation to the other, while the
threaded members secure the segments translationally.
[0113] In one implementation best shown in FIG. 12A, the third
segment 103 can serve as a protective cover that can be coupled or
mated with the front portion of the fourth segment 104 and retained
with a threaded member 126. In these embodiments, the third segment
103 can help to protect the motors and electronics in the second
housing 100.2. In addition, a gearcap cover segment 106 can be
coupled or mated with the bottom portion of the fourth segment 104
and retained with threaded members 120. The cover segment 106 can
help to cover and protects the various gears 119A, 119B, 121A, 121B
contained within the fourth segment 104. The coupling of the fourth
104 and fifth 105 segments also results in the positioning of the
second right bevel gear 117A in relation to the first right bevel
gear, 112B such that the second right bevel gear 117A and the first
right bevel gear 112A are positioned to couple with the right
shoulder subassembly 127A to form the right shoulder 300.1A and the
corresponding left bevel gears 117B, 112B are positioned to couple
with the subassembly left shoulder subassembly 127B to form the
left shoulder 300.1B. This is depicted and explained in further
detail in FIGS. 13A-14C.
[0114] FIGS. 13A-13D and 14A-14C depict the shoulder subassembly
design, according to one embodiment. The components in these
figures are numbered and will be described without reference to
whether they are components of the right shoulder (designated with
an "A" at the end of the number) or the left shoulder (designated
with a "B" at the end of the number). Instead, it is understood
that these components are substantially similar on both sides of
the device and will be described as such.
[0115] The shoulder subassemblies 127A, 127B of the right shoulder
300.1A and left shoulder 300.1B respectively, have output bevel
gears 130A, 130B (which couples with the right bevel gears 112A,
117A and left bevel gears 112B, 117B) having a right lumen 130A and
left lumen (not pictured) configured to receive the right output
shaft 128A and left output shaft. The right output shaft 128A is
positioned in the lumen 130A and also has two projections (a first
128A.1, and second 128A.2) that are configured to be positioned in
the lumens of the first and second right bevel gears 112A, 117A. In
addition, a plurality of ball bearings 111, 116 are positioned over
the projections 128A.1, 128A.2 such that the inner race of the
bearings 111, 116 contact the projections 128A.1, 128A.2.
[0116] A further ball bearing 129A is positioned on/over the right
output shaft 128A such that the ball bearing 129 is positioned
within the lumen 130A of the right output bevel gear 130A. Yet a
further ball bearing 131 is positioned in the opposing side of the
right output bevel gear lumen 130A and on/over a threaded member
132. The threaded member 132 is configured to be threaded into the
end of the right output shaft 128A after the shaft 128A has been
positioned through the lumen 130A of the right output bevel gear
130A, thereby helping to retain the right output bevel gear 130A in
position over the right output shaft 128A and coupled with the
first and second right bevels gears 112A, 117A. Once the threaded
member 132 is positioned in the right output shaft 128A and fully
threaded therein, the full right shoulder subassembly 127A is fully
secured such that the right output bevel gear 130A is securely
coupled to the first and second right bevel gears 112A, 117A.
[0117] In operation, as best shown in FIG. 13B, rotation of the
first and second right bevel gears 112A, 117A rotates the right
output bevel gear 130, which can cause rotation of the right
shoulder subassembly 127A along at least one of two axes--axis A1
or axis A2--depending on the specific rotation and speed of each of
the first and second right bevel gears 112A, 117A. For example, if
both first and second right bevel gears 112A, 117A are rotated in
the same direction at the same speed, the first and second right
bevel gears 112A, 117A are essentially operating as if first and
second right bevel gears 112A, 117A are a fixed, single unit that
cause rotation of the shoulder subassembly 127A around axis Al. In
an alternative example, if the first and second right bevel gears
112A, 117A are rotated in opposite directions, the right output
bevel gear 130A is rotated around axis A2. It is understood that
the first and second right bevel gears 112A, 117A can also work
together to achieve any combination of rotation along both axes A1,
A2. That is, since the first and second right bevel gears 112A,
117A are driven independently by the distal and proximal motors
122A, 109A, any combination of .theta.1 and .theta.2 are achievable
around axes A1 and A2. As an example, if both gears 112A, 117A are
rotated in the same direction but at different speeds, this will
result in a combined rotation of the subassembly around both the A1
axis and the A2 axis, as would be clear to one of skill in the
art
[0118] FIGS. 15A and 15B depict a right upper arm (or first link)
300A that is coupled to the device body 100 at right shoulder
300.1A (as also shown in FIGS. 1 and 2). While the following
figures and discussion focus on the right upper arm 300A, it is
understood that the left upper arm 300B can have the same or
similar components and thus that the discussion is relevant for the
left upper arm 300B as well. As shown in FIGS. 15A and 15B, the
upper arm 300A is coupled to the output bevel gear 130A with two
threaded screws 301A.1. In addition, according to certain
embodiments, the upper arm 300A has a notch 301.1A defined in the
proximal end of the arm 300A into which the output bevel gear 130A
is positioned, thereby providing additional mating geometry that
further secures the upper arm 300A and the output bevel gear
130A.
[0119] As best shown in FIG. 15B, the upper arm 300A has an upper
arm motor 317A that actuates the movement of the forearm 200A at
the elbow joint 200.1A of the arm A. That is, the motor 317 is
coupled to an upper arm spur gear 318A, which is coupled to an
upper arm driven gear 302A. The driven gear 302A is coupled to a
first right upper arm bevel gear 306A, which is coupled to a second
right upper arm bevel gear 313A. The second right upper arm bevel
gear 313A is coupled to an upper arm output upper arm shaft 312AA,
which is coupled to the right forearm 200A. Each of these
components and how they are coupled to each other will now be
described in further detail below.
[0120] FIGS. 16A and 16B depict the right upper arm motor 317A and
the drive train coupled to the motor 317A in the upper arm 300A. In
this embodiment, the motor 317A is an 8 mm motor that is positioned
in the upper arm 300A. The upper arm spur gear 318A is coupled to
the upper arm motor output shaft 317A and rotationally secured via
a "D" geometry 317.1A. According to one embodiment, the upper arm
spur gear 318A is further secured with TB-Weld. The upper arm 300A
also has a housing 304A positioned in the arm 300A that is
configured to house or support the drive train that is coupled to
the upper arm motor 317A. The housing 304 has a hole 304.3A defined
by two arms 304.1A, 304.2A that is configured to receive the motor
317A. When the motor 317A and upper arm spur gear 318A have
positioned correctly within the hole 304.3A such that the upper arm
spur gear 318A is coupled to the upper arm spur shaft gear 302A, a
screw 319A can be positioned through holes in both arms 304.1A,
304.2A and tightened, thereby urging the arms 304.1A, 304.2A
together and securing the upper arm motor 317A both rotationally
and translationally within the hole 304.3A. In one alternative, an
adhesive such as epoxy can be added help to further restrict
unwanted movement of the upper arm motor 317A in relation to the
upper arm housing 304A. This securing of the motor 317A in the
upper arm housing 304A ensures proper coupling of upper arm spur
gear 318A with the upper arm spur shaft gear 302A.
[0121] FIGS. 17A and 17B depict the first 320A and second 232A
segments (or "shells") that couple together to create the housing
around the upper arm motor 317A. The first shell 320A is positioned
above the upper arm motor 317A and the second shell 323A is
positioned beneath the motor 317A. The two shells 320A, 323A are
coupled together with screws 322A that are positioned through the
second shell 323A and into the first shell 320A. In addition, the
two shells 320A, 323A are also coupled to the upper arm housing
304A, with the first shell 320A being coupled to the upper arm
housing 304A with screws 321A and the second shell 323A being
coupled to the upper arm housing 304A with further screws 324A.
[0122] FIGS. 18A and 18B depict the right upper arm housing 304A
and further depict the right upper arm spur shaft 302A.1 positioned
in the housing 304A. The right upper arm spur shaft 302A has a
right upper arm spur gear 302A.2 at one end of the spur shaft
302A.1 as best shown in FIG. 18A. The spur shaft 302A.1 is
positioned in an upper arm housing lumen 304A.1 defined in the
housing 304A. There are two ball bearings 303, 305 positioned
on/over the spur shaft 302A.1 and further positioned at the
openings of the upper arm housing lumen 304A.1. A first upper arm
bearing 303 is positioned on/over the spur shaft 302A.1 so that
only its inner race is contacting the shaft 302A.1. A second upper
arm bearing 305A is positioned on/over spur shaft 302A.1 in the
same manner The first right upper arm bevel gear 306A is coupled to
the upper arm spur shaft 302A.1 at the end opposite the spur shaft
gear 302A.2. The upper arm bevel gear 306A is secured to the spur
shaft 302A.1 with "D" geometry 302A.3. In a further embodiment, the
first right upper arm bevel gear 306A can also be further secured
using adhesive such as JB-Weld. A screw 307A is positioned through
the first right upper arm bevel gear 306A and into the spur shaft
302A.1 such that when the screw 307A is fully threaded into the
spur shaft 302A.1, the screw 307A translationally secures first
right upper arm bevel gear 306A and also preloads the first 303 and
second 305 upper arm bearings.
[0123] FIGS. 19A, 19B, and 19C depict the upper arm shaft housing
311A coupled to the upper arm housing 304. The upper arm shaft
housing 311A is made up of an upper shaft housing arm 311A.1 and a
lower shaft housing arm 311A.2, both of which are coupled to the
upper arm housing 304A. The upper shaft housing arm 311A.1 is
coupled to the housing 304A via a first pair of screws 307A.1,
while the lower shaft housing arm 311A.2 is coupled via a second
pair of screws 308A.1. As best shown in FIG. 19B, each of the shaft
housing arms 311A.1, 311A.2 has a hole 311A.1A, 311A.2A. The upper
arm shaft 312AA, as best shown in FIGS. 20A-20C, has a vertical
shaft component 312A.1 and an appendage 312A.2 coupled to the
vertical shaft component 312A.1. The upper arm shaft 312AA is
oriented in the assembled shaft housing 311A such that an upper
portion of the vertical shaft component 312A.1 is positioned in the
hole 311A.1A and a lower portion of the vertical shaft component
312A.1 is positioned in the hole 311A.2A. In addition, a vertical
shaft bevel gear 313A is positioned over the vertical shaft
component 312A.1 and above the lower shaft housing arm 311A.2 such
that the vertical shaft bevel gear 313A is coupled to the first
right upper arm bevel gear 306A when all components are properly
positioned as best shown in FIG. 19C. The vertical shaft bevel gear
313A is coupled to the vertical shaft component 312A.1 rotationally
by a "D" geometry 312A.4 as best shown in FIG. 20B. In a further
implementation, the vertical shaft bevel gear 313A can be further
secured using JB-Weld. The vertical shaft component 312A.1 also has
two ball bearings: a first vertical shaft ball bearing 315A is
positioned over the vertical shaft component 312A.1 and through
hole 311A.2A so that it is in contact with the vertical shaft bevel
gear 313A, while the second vertical shaft ball bearing 310A is
positioned in the hole 311A.1A. A screw 316 is positioned through
the first ball bearing 315A and hole 311A.2A and threaded into the
bottom of the vertical shaft component 312A.1, thereby helping to
secure the upper arm shaft 312AA in the assemble shaft housing 311A
and the first ball bearing 315A in the hole 311A.2A. A second screw
309A is threaded into the top of the vertical shaft component 312A
to secure and preload the second ball bearing 310.
[0124] FIGS. 20A, 20B, and 20C depict upper arm shaft 312A,
according to one embodiment. The upper arm shaft 312A has an
appendage 312A.2 that is configured to be coupled to the forearm
300A. In addition, the upper arm shaft 312A is rotatable in
relation to the upper arm 300A as a result of the plurality of
vertical shaft ball bearings, 310A and 315A, as best depicted and
described above in relation to FIGS. 19A-C. As such, in operation,
the upper arm shaft 312A is rotatable by the right upper arm motor
317AA in the upper arm 300A as described above via the drive train
that couples the right upper arm motor 317A to the vertical shaft
bevel gear 313A, which in turn is coupled to the upper arm shaft
312A. In one embodiment, the appendage 312A.2 can be rotated around
vertical upper arm shaft 312AA with a rotational radius or angle of
.phi.3 as shown in FIG. 20A. In one specific implementation, the
angle is 50 degrees. In accordance with one embodiment, the
appendage 312A.2 is configured to be coupleable to a forearm 300A
via the configuration or geometry of the appendage 312A.2 and the
hole 312A.5 formed underneath the appendage 312A.2.
[0125] It is understood that any known forearm component can be
coupled to either upper arm 300A, 300B. According to one
embodiment, the forearm coupled to the upper arm 300A, 300B is the
exemplary right forearm 410, which could apply equally to a right
410A or left 410B forearm, depicted in FIGS. 21A-21D. In this
exemplary embodiment, the forearm has a cylindrical body or housing
412 and an end effector 414. As shown in FIGS. 21G and 21H, the
housing 412 is made up of two separate forearm housing components
412.1, 412.2 that are coupled together with three bolts (or
threaded members) 472. The three bolts 472 pass through housing
component 412.1 and into threaded holes in the housing component
412.2. Alternatively, the two forearm housing components 412.1,
412.2 can be coupled together by any known coupling mechanism or
method.
[0126] In this embodiment, the end effector 414 is a grasper, but
it is understood that any known end effector can be coupled to and
used with this forearm 410. The depicted embodiment can also have a
circular valley 474 defined in the distal end of the forearm
housing 412. This valley 474 can be used to retain an elastic band
or other similar attachment mechanism for use in attaching a
protective plastic bag or other protective container intended to be
positioned around the forearm 410 and/or the entire device arm
and/or the entire device to maintain a cleaner robot.
[0127] As best shown in FIGS. 21E, 21G, and 21H, the forearm 410
has two motors - a rotation motor 416 and an end effector motor
418. The rotation motor 416 is coupled via a forearm rotation motor
gear 420 and a forearm rotation motor attachment gear 422 to the
forearm attachment component 424, which is configured to be
coupleable to an elbow joint, such as either elbow joint 200.1A,
200.1B. The forearm rotation motor attachment gear 422 transmits
the rotational drive of the motor from the forearm rotation motor
gear 420 to the forearm rotation motor attachment component 424.
The attachment component 424, as best shown in FIGS. 22A and 22B,
has a forearm rotation motor shaft 426 that defines a forearm
rotation motor lumen 428 having a threaded interior wall. Further,
the attachment gear 422 and first and second forearm bearings 430,
432 are positioned on/over this shaft 426, thereby operably
coupling the attachment gear 422 to the attachment component 424.
In one embodiment as shown, the shaft 426 has a D-shaped
configuration 436 that mates with the D configuration of the hole
438 defined in the gear 422, thereby rotationally coupling the
shaft 426 and gear 422. Alternatively, any configuration that can
rotationally couple the two components can be incorporated. The
bearing 430 is positioned on the shaft 426 between the attachment
component 424 and the attachment gear 422, while the bearing 432 is
positioned between the attachment gear 422 and the motor 416. In
one embodiment, the bearing 430 is a ball bearing. Alternatively,
as with all of the bearings described in this application, these
bearings or bushings can be any roller bearings or bushings that
can be used to support and couple any rotatable component to a
non-rotatable component or housing. The bearings 430, 432,
attachment gear 422, and attachment component 424 are secured to
each other via a bolt or other type of threaded member 434 that is
threaded into the threaded lumen 428 of the shaft 426.
[0128] As best shown in FIGS. 21G and 22A, the two housing
components 212A, 212B have structures defined on their interior
walls that are configured to mate with the various components
contained within the housing 212, including the gears 420, 422 and
bearings 430, 432. As such, the bearings 430, 432 are configured to
be positioned within the appropriate mating features in the housing
components 212A, 212B. These features secure the bearings 430, 432
in their intended positions in the housing 212 when the two housing
components 212A, 212B are coupled. In addition, the rotation motor
416 is secured in its position within the housing 412 through a
combination of the coupling or mating of the motor 416 with the
features defined on the interior walls of the housing components
212A, 212B and two bolts or other type of threaded members 440A,
440B (one bolt--440A--is depicted) that are threaded through the
holes 442A, 442B and into holes 444A, 444B defined in the motor
416.
[0129] In the depicted embodiment, the attachment component 424 is
an attachment nut 424. However, it is understood that the specific
geometry or configuration of the attachment component 424 can vary
depending on the specific robotic device and the specific elbow
joint configuration.
[0130] In use, the actuation of the rotation motor 416 actuates
rotation of the attachment component 424, which results in rotation
of the forearm 410, thereby rotating the end effector 414. As such,
in one embodiment, the rotation of the end effector 414 is
accomplished by rotating the entire forearm 410, rather than just
the end effector 414. In the depicted embodiment, the forearm 410
rotates around the same axis as the axis of the end effector 414,
such that rotation of the forearm 410 results in the end effector
414 rotating around its axis. Alternatively, the two axes can be
offset.
[0131] Any known end effector can be coupled to the forearm 410. In
this particular embodiment as shown in FIG. 21E, the end effector
is a grasper 414 having a yoke 414.2 that is positioned around the
proximal ends of the grasper components 414.1. In this embodiment,
the grasper 414 has a configuration and method of operation
substantially similar to the grasper disclosed in U.S. application
Ser. No. 13/493,725, filed on Jun. 11, 2012which is hereby
incorporated herein by reference in its entirety. Alternatively,
any known grasper configuration can be used.
[0132] As best shown in FIGS. 21E, 23A, and 23B, the end effector
motor 418 is configured to actuate the grasper 414 arms to open and
close via the motor gear 450, which is coupled to the coupling gear
452, which is coupled to center drive rod 454, which is coupled to
the grasper components 414.1. The grasper yoke 414.2 is
substantially fixed to the housing 412 so that it does not move
relative to the housing 412. More specifically, the grasper yoke
414.2 is fixedly coupled to the yoke gear 460, which is positioned
in the housing 412 such that it is mated with the ridged notch 462
defined in the inner wall of the housing 412, as best shown in FIG.
23B. The teeth of the yoke gear 460 mate with the ridges of the
ridge notch 462 to thereby couple the gear 460 and the housing 412.
In addition, according to certain embodiments, glue can be placed
between the yoke gear 460 and the housing as well, to further
enhance the fixation of the grasper yoke 414.2 to the housing
412.
[0133] The coupler gear 452 has a center hole (not shown) that is
internally threaded (not shown) such that the proximal end of the
center drive rod 454 is positioned in the center hole. Because the
center drive rod 454 has external threads (not shown) that mate
with the internal threads of the center hole defined in the coupler
gear 452, the rotation of the coupler gear 452 causes the internal
threads of the center hole to engage the external threads of the
drive rod 454 such that the drive rod 454 is moved translationally.
This translational movement of the drive rod 454 actuates the
grasper arms to move between the closed and open positions. The
coupler gear 452 is supported by two bearings 464, 466, which are
secured within the housing 412 by appropriate features defined in
the inner walls of the housing 412. In addition, the end effector
motor 418 is secured in a fashion similar to the motor 416.
[0134] In an alternative embodiment, the grasper or other end
effector can be actuated by any known configuration of actuation
and/or drive train components.
[0135] In one implementation, when the forearm 410 and the end
effector 414 are assembled, the forearm 410 can have a gap 470
between the two motors 416, 418. In accordance with one embodiment,
the gap 470 can be a wiring gap 470 configured to provide space for
the necessary wires and/or cables and any other connection
components needed or desired to be positioned in the forearm
410.
[0136] As discussed above, any end effector can be used with the
robotic device embodiments disclosed and contemplated herein. One
exemplary implementation of a grasper 500 that can be used with
those embodiments is depicted in FIG. 24. The grasper 500 has two
jaws (also referred to as arms) 502.1, 502.2 that both pivot around
a single pivot point 504. According to one embodiment, the grasper
500 is a "combination" or "hybrid" grasper 500 having structures
configured to perform at least two tasks, thereby reducing the need
to use one tool for one task and then replace it with another tool
for another task. More specifically, each jaw 502.1, 502.2 has two
sizes of ridges or toothlike formations ("teeth"): larger teeth
506.1, 506.2 and smaller teeth 508.1, 508.2. It is understood that
the teeth can be any known size for use in grasper jaws, so long as
one set (the larger set) is larger than the other set (the smaller
set). The larger teeth 506.1, 506.2 are intended for gross
manipulations (dealing with larger amounts of tissue or larger
bodies in the patient) while the smaller teeth 508.1, 508.2 are
intended for finer work (such as manipulating thin tissue). In use,
when fine work is to be performed, only the distal ends or tips of
the jaws 502.1, 502.2 are used such that only the smaller teeth
508.1, 508.2 are used.
[0137] In one embodiment, the portion of the jaws 502, 502.2 having
the smaller teeth 508.1, 508.2 is narrower in comparison to the
portion having the larger teeth 506.1, 506.2, thereby providing a
thinner point that can provide more precise control of the grasper
500.
[0138] In accordance with one implementation, a robotic device
according to any of the embodiments disclosed herein can also have
at least one forearm 550 with a camera 552 as shown in FIGS.
25A-25E. As best shown in FIGS. 25A, 25B, and 25C, one embodiment
of the forearm 550 with a camera 552 has a lumen 560A defined
through a camera housing 556 positioned at the distal end of the
forearm 550. In addition, the forearm 550 also has an end cap 554
that defines a portion of the lumen 560B as well, as best shown in
FIG. 25C. When the end cap 554 is positioned on the distal end of
the forearm 550, the lumens 560A, 560B are coupled to produce a
single lumen 560. In one embodiment, the end cap 554 is coupled to
the distal end of the forearm 550 by sliding the cap 554 over the
end effector 562 (which, in this particular embodiment, is a
cautery component 562) and secured to the distal end of the forearm
550 using at least one screw 558. The camera 552 can be positioned
within the lumen 560 as best shown in FIGS. 25A and 25D.
[0139] In use, the camera 552 provides a secondary viewpoint of the
surgical site (in addition to the main camera on the robotic device
(such as, for example, the camera 99 described above) and could
potentially prevent trauma by showing a close-up view of the site.
In one embodiment, the camera 552 is positioned such that the field
of view contains the tip of the cautery (or any other end effector)
562 and as much of the surgical site as possible. One embodiment of
the field of view 564 provided by the camera 552 is depicted in
FIG. 25E, in which the field of view cone is 60 degrees.
Alternatively, the field of view can be any known size for a camera
that can be incorporated into a medical device. In a further
alternative, multiple cameras could be incorporated into the distal
end of the forearm 550. In one embodiment, multiple cameras could
be configured to provide stereoscopic ("3D") visualization. In a
further alternative implementation, the distal end of the forearm
550 could also have lights such as, for example, LED or fiber optic
lights for illumination. While this particular embodiment depicts
the camera 552 being used on a cautery forearm 550, the camera 552
or any similar variation of the camera 552 as contemplated herein
can be incorporated into any robotic end effector in which an
alternate view would be beneficial. According to further
alternative implementations, the camera unit could be positioned in
a location on a robotic device other than the forearm. In
accordance with one embodiment, the one or more additional
viewpoints provided by one or more additional cameras can be shown
as a Picture In Picture (PIP) on the surgical user interface or on
separate monitors.
[0140] In use, the various embodiments of the robotic device
disclosed and contemplated herein can be positioned in or inserted
into a cavity of a patient. In certain implementations, the
insertion method is the method depicted in FIGS. 26A-26F. In this
method, the entire device 602 can be inserted into the cavity as a
single device, in contrast to those prior art devices that must be
inserted in some unassembled state and then assembled after
insertion. That is, many known surgical robotic devices prior to
the embodiments disclosed herein require a relatively extensive
process for insertion into the abdominal cavity. For such prior art
devices, each arm must be inserted individually, aligned with a
central connecting rod that is also inserted, and then coupled to
the connecting rod to secure the arms in place. Other similar
procedures require some similar set of steps relating to the
insertion of various separate parts of a device, followed by some
assembly of the parts once they are positioned as desired in
relation to the patient. These insertion-then-assembly procedures
are generally time-consuming procedures that expose the robotic
arms to fluids within the cavity for the duration of the process.
As such, these procedures can often lead to premature failure of
the robots due to moisture damage of the electronics and undue
stress on the arms during assembly.
[0141] In contrast, the device embodiments disclosed herein allow
for inserting the entire device without any post-insertion
assembly, thereby eliminating the problems described above. More
specifically, the shoulder joint configuration and the reduced
profile created by that configuration allows the entire device to
be inserted as a single unit with both arms intact. FIGS. 26A-26F
depict the various positions of the device arms 604 during the
insertion procedure, according to one embodiment. FIG. 26A depicts
the base or homing position required by the control kinematics.
That is, as is understood by those of ordinary skill in the art,
robotic devices typically have encoders that track the current
position of the moving parts of the device (such as, for example,
the arms 604 on this device), but the encoders track the relative
position, not the actual position. As such, the homing position is
necessary in order for the device to start from a known
configuration. FIG. 26B depicts the arms 604 in a transition
position in which the arms 604 are moving from the homing position
toward the fully extended vertical position of FIG. 26C. The
shoulders are then re-positioned to the configuration shown in FIG.
26D (and in further detail in FIG. 27A in which the insertion tube
600 is depicted) in which the arms 604 are rotated to a position in
which they are no longer positioned along the same vertical axis
(X1) as the device body 602, but instead are positioned such that
the axis (X2) of the arms 604 is parallel to and behind the device
body 602. In addition, the rotation of the arms 604 to the position
of 26D (and 27A) also results in the cross-sectional profile of the
device 602 along its width being reduced by the size of the arms
604. That is, while the arms 604 in 26C are positioned alongside
the device body 602 such that the width of the body 602 is enlarged
by the width of the arms 604 on each side of the body 602, the
rotation of the arms 604 to a position behind the body 602 also
results in the arms 604 being positioned such that they are
positioned within the width of the body 602 (that is, they do not
extend beyond the width of the body 602). It is the configuration
of the shoulders as described above that allows for this particular
repositioning. The end result is a device configuration in 26D that
has a smaller width than the configuration in 26C, thereby reducing
the profile of the device along its width and allowing for
insertion of the device without having to remove the arms.
[0142] Once the device is in the configuration of FIG. 26D, the
device can begin to be inserted into the cavity. Due to the length
of the arms, the device cannot be fully inserted into the cavity in
this vertical position, so once the forearms are positioned inside
the cavity, they are rotated to the position shown in FIG. 26E (and
in further detail in FIG. 27B). Once in this configuration, the
rest of the robot is fully inserted and then the device is
configured into a typical operating arrangement such as that shown
in FIG. 26F (and in further detail in FIG. 27C).
[0143] The alternative embodiment depicted in FIGS. 27A-27C depict
an insertion tube (also called an "overtube") 600 in which the
robotic device can be stored prior to use. Further, prior to
insertion, the tube 600 will be sealed to the abdominal wall after
an incision has been made in the wall. Once sealed, the abdomen can
be insufflated between the skin 1000 and organ floor 1002 and the
blue overtube and abdomen will be at equal pressures. The robot can
then be inserted following the previously outlined steps discussed
above.
[0144] According to another embodiment, any of the robotic devices
disclosed or contemplated above can also incorporate sensors to
assist in determining the absolute position of the device
components. As depicted in FIG. 28, the robotic device 650 has a
body 652, a right arm 654, and a left arm 656. The right arm 654
has an upper arm 654A and a forearm 654B, and the left arm 656 also
has an upper arm 656A and a forearm 656B. Note that each of the
upper arms and forearms are also referred to as "links." In
addition, the right arm 654 has a shoulder joint 654C and an elbow
joint 654D, while the left arm 656 also has a shoulder joint 656C
and an elbow joint 656D.
[0145] In this embodiment, various position sensors 658, 660A,
660B, 662A, 662B are positioned on the device 650 as shown in FIG.
28. More specifically, a first position sensor 658 is positioned on
the device body 652, while a second position sensor 660A is
positioned on the right upper arm 654A, a third position sensor
660B is positioned on the right forearm 654B, a fourth position
sensor 662A is positioned on the left upper arm 656A, and a fifth
position sensor 662B is positioned on the left forearm 656B. In
accordance with one implementation, the sensors are 3-axis sensors,
as described in FIG. 29. In one embodiment, the position sensor 658
positioned on the device body 652 senses the orientation of the
device body 652 and then the orientation of each of the sensors
660A, 660B, 662A, 662B on the links 654A, 654B, 656A, 656B can be
used to determine the current position of each link of each arm
654, 656 and the joint angles at joints 654C, 654D, 656C, 656D.
[0146] More specifically, the sensor 658 positioned on the device
body 652 is used as the known reference point, and each of the
other sensors 660A, 660B, 662A, 662B can be used in conjunction
with the sensor 658 to determine the position and orientation of
both arms relative to the reference point. In one implementation,
each 3-axis sensor measures the spatial effect of the at least one
environmental characteristic being measured and also determine the
orientation of that sensor in all three spatial dimensions. Each
sensor 660A, 660B, 662A, 662B on a link 654A, 654B, 656A, 656B
measures the environmental characteristic at that position on the
link. For each link 654A, 654B, 656A, 656B, the measured value and
orientation of the sensor 660A, 660B, 662A, 662B on that link can
then be used to determine the spatial orientation of each link
654A, 654B, 656A, 656B. When sensors are mounted on every link as
in FIG. 28, the kinematic configuration of both robotic arms 654,
656 can be used with the link orientations determined from the
sensors to directly calculate the position of the arms 654, 656
from the known reference point: sensor 658. This known orientation
can then be used to determine the position and orientation of both
arms 654, 656 relative to the reference point 658.
[0147] While the sensors 660A, 660B, 662A, 662B in FIG. 28 are
shown to be attached to an exterior surface of each link as shown,
in alternative embodiments the sensors can be mounted on the link
in any known or measureable position and orientation. In a further
alternative, each of the sensors can be mounted in an interior
location inside the particular component that the sensor is
intended to be coupled to. In yet another alternative, each sensor
can be positioned on an exterior portion of the appropriate
component as long as it is firmly attached to the component.
[0148] In addition, it is understood that while the embodiment in
FIG. 28 depicts a robotic device 650 with two joints and two links
per arm, the position sensors can be applied to and used with a
robotic device with any number of joints and links per arm in any
configuration.
[0149] In one embodiment, the 3-axis sensors 658, 660A, 660B, 662A,
662B are 3-axis accelerometers that measure the acceleration due to
gravity. It is understood that a 3-axis accelerometer operates in
the following fashion: the acceleration due to gravity is measured
and depending on the orientation of the arm link (or other device
component), magnitudes of acceleration in proportion to the
orientation angles of the accelerometer are sensed on the different
axes 702, 704, 706 of the 3-axis accelerometer as best shown in
FIG. 29. Given the acceleration measurements on each axis of the
accelerometer, the orientation of the link that the accelerometer
is mounted on can be determined with respect to gravity.
[0150] Aside from being able to measure the acceleration of
gravity, one additional characteristic of accelerometer sensors is
that they can also measure the acceleration of the link(s) they are
attached to on the robotic device. As such, in certain embodiments,
given a starting position for the robotic device and its links,
this acceleration data can be integrated over time to provide a
position for the links of the robot. The positions determined from
this integration can be more accurate if the system model of the
robot is known to help account for the effects of inertia and other
internal forces.
[0151] Alternatively, sensors other than accelerometers can be
used. Possible sensors include, but are not limited to,
magnetometers (measuring magnetic field from earth's magnetic
field, induced magnetic field, or other magnetic field), tilt
sensors, radio frequency signal strength meters, capacitance meter,
or any combination or extensions of these. Further, while 3-axis
sensors are used in the embodiment discussed above, single or dual
or other multi-axis sensors could be used.
[0152] Another type of sensor that can be used with a robotic
device is a gyroscope. The gyroscope measures the rate of rotation
in space. The gyroscope can be combined with an accelerometer and
magnetometer to form an inertial measurement unit, or IMU, that can
be used to measure the static position of the robotic device or to
calculate the position of the device while it is moving through
integration of the measured data over time.
[0153] In use, the sensors described above help to determine or
provide information about the absolute position of a device
component, such as an arm. This contrasts with many known robotic
devices that use embedded encoders, which can only measure a
relative change in a joint angle of an arm such that there is no
way to determine what position the arm is in when the device is
first powered up (or "turned on"). The sensor system embodiments
described herein help to determine the absolute position of one or
more links on a robotic device. In fact, in accordance with some
implementations, the position tracking systems disclosed herein
allow a robotic device or a user to autonomously determine what
position the device and device arms are in at any time. Such a
system according to the embodiments disclosed herein can be used
alone (as a primary position tracking system) or in combination
with the embedded encoders (as a redundant position tracking
system). Although as previously described only one position sensor
is used per link, other embodiments have multiple sensors per link.
The additional position sensors provide additional positional
redundancy, and in some implementations the data collected from the
multiple position sensors can be used with various filtering
techniques, such as Kalman Filtering, to provide a more robust
calculation of the position of the robot.
[0154] While multiple embodiments are disclosed, still other
embodiments of the present invention will become apparent to those
skilled in the art from the following detailed description, which
shows and describes illustrative embodiments of the invention. As
will be realized, the invention is capable of modifications in
various obvious aspects, all without departing from the spirit and
scope of the present invention. Accordingly, the drawings and
detailed description are to be regarded as illustrative in nature
and not restrictive.
[0155] Although the present invention has been described with
reference to preferred embodiments, persons skilled in the art will
recognize that changes may be made in form and detail without
departing from the spirit and scope of the invention.
* * * * *
References